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AP_Relay: added relay output invert function

This commit is contained in:
Lanea Lucy S 2024-03-20 13:21:49 +01:00 committed by Peter Barker
parent 6f9967a8f7
commit 01b0e0c27c
3 changed files with 17 additions and 1 deletions
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8
libraries/AP_Relay/AP_Relay.cpp
View File

@ -408,6 +408,10 @@ void AP_Relay::set_pin_by_instance(uint8_t instance, bool value)
const bool initial_value = get_pin(pin);
if (_params[instance].inverted > 0) {
value = !value;
}
if (initial_value != value) {
set_pin(pin, value);
#if HAL_LOGGING_ENABLED
@ -496,6 +500,10 @@ bool AP_Relay::get(uint8_t instance) const
return false;
}
if (_params[instance].inverted > 0) {
return !get_pin(_params[instance].pin.get());
}
return get_pin(_params[instance].pin.get());
}

9
libraries/AP_Relay/AP_Relay_Params.cpp
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@ -60,11 +60,18 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
// @Param: DEFAULT
// @DisplayName: Relay default state
// @Description: Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters.
// @Description: Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.
// @Values: 0: Off,1:On,2:NoChange
// @User: Standard
AP_GROUPINFO("DEFAULT", 3, AP_Relay_Params, default_state, (float)DefaultState::OFF),
// @Param: INVERTED
// @DisplayName: Relay invert output signal
// @Description: Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.
// @Values: 0:Normal,1:Inverted
// @User: Standard
AP_GROUPINFO("INVERTED", 4, AP_Relay_Params, inverted, false),
AP_GROUPEND
};

1
libraries/AP_Relay/AP_Relay_Params.h
View File

@ -70,4 +70,5 @@ public:
AP_Enum<FUNCTION> function; // relay function
AP_Int16 pin; // gpio pin number
AP_Enum<DefaultState> default_state; // default state
AP_Int8 inverted; // inverted signal
};